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In this work an obstacle avoidance technique for strict path following task of robotic systems is proposed and tested through simulations. The main idea is to implement a speed adaption loop which based on a discontinuous signal product of a sliding surface in the state space, modifies the speed of reference for a robot. The strength of this approach is that we solve, under certain conditions, the...
This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by the robot's sensors in order to guarantee that collisions will not occur. Then, a supervisory loop ensures the fulfillment of the constraints modifying the reference trajectory as...
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